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Comments on "A sliding mode controller with bound estimation for robot manipulators"

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2 Author(s)
Tarokh, M. ; Dept. of Math. Sci., San Diego State Univ., CA, USA ; McDermott, G.

In Su and Leung (1993), a sliding mode control method is proposed for joint trajectory tracking of robot manipulators. The method is based on the decomposition of the manipulator dynamics into the product of a constant parameter vector and a regressor matrix, originally developed by Slotine and Li (1988). This note shows that the method proposed by Su and Leung does not offer any advantage over the method of Slotine and Li.<>

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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 2 )